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PubMed1995

Advances in interactive craniofacial surgery planning by 3D simulation and visualization.

In craniofacial surgery careful preoperative planning is essential. Traditional preoperative work-up consists of cast model surgery, cephalometric prediction tracing and analysis of photographs. Recently, we introduced 3-dimensional (3D) computed tomography (CT) model surgery in our preoperative work-up and presurgical prediction of the postoperative result. However, only limited information can be extracted concerning soft tissue changes which are most important for the patients' postoperative appearance. We propose a new system which will allow a precise preoperative visualization of not only bony structures but also the soft tissue surfaces. 3D CT data of the skull are integrated with 3D surface data acquired by laser scanning. Based on the 3D CT data the bony structures are segmented automatically and processed interactively to simulate the planned surgical procedure. Afterwards, the 3D soft tissue changes resulting from the shifting of bony segments are computed. The postoperative appearance of the patient is visualized using computer animation techniques.

Algorithms↗
PubMed2004

Spinal shape changes resulting from scoliotic spine surgical instrumentation expressed as intervertebral rotations and centers of rotation.

This paper reports the changes in spinal shape resulting from scoliotic spine surgical instrumentation expressed as intervertebral rotations and centers of rotation. The objective is to test the hypothesis that the type of spinal instrumentation system (Cotrel-Dubousset versus Colorado) does not influence these motion parameters. Intervertebral rotations and centers of rotation of the scoliotic spines were computed from the pre- and post-operative radiographs of 82 patients undergoing spinal correction. The three-dimensional (3D) reconstruction of six anatomical landmarks was achieved for each of the thoracic and lumbar vertebrae. A least-squares approach based on singular value decomposition was used to calculate the rigid body transformation parameters. Average centers of rotation for all intervertebral levels are located in the neural canal at the mid-sagittal plane and approximately at the superior endplate level of the inferior vertebra. Intervertebral rotations have components in all planes: 6.7 degrees (frontal), 5.5 degrees (sagittal) and 4.5 degrees (transverse) RMS for all intervertebral levels. Nearly all intervertebral rotations and centers of rotation are not significantly different for the two instrumentation systems. Various intervertebral rotations and 3D reconstruction errors were simulated on a theoretical model of a lumbar functional unit to assess the proposed method. Intervertebral rotation errors were 1.7 degrees when simulating 3D errors of 3mm on the position of the landmarks. Maximum errors for the position of centers of rotation were below 1cm in the case of intervertebral rotations larger than 2.5 degrees (most cases), but were larger (38 mm) for small intervertebral rotations (<1 degrees ). The type of instrumentation system did not influence intervertebral rotations and centers of rotation. These results provide valuable data for the development and validation of simulation models for surgical instrumentation of idiopathic scoliosis.

Adult↗
PubMed2006

Objective assessment of visuospatial and psychomotor ability and flow of residents and senior endoscopists in simulated gastroscopy.

BACKGROUND: Advanced medical simulators have predominantly been used to shorten the learning curve of endoscopy for medical students and young residents. Rarely have the effects of visuospatial ability and attitudes of intermediately experienced and experienced specialists been studied with regard to simulator training. The aim of this study was to assess the effects of visuospatial ability and attitude on performance in simulator training. METHODS: Eighteen surgical residents were included in the study. Prior to the simulated gastroscopy task, they performed a visuospatial test (the card rotation test). After the simulated gastroscopy task, they completed a questionnaire regarding flow experiences. Their results were compared with those of 11 expert endoscopists who performed the same tests. RESULTS: Total gastroscopy time was significantly shorter for the expert endoscopists compared to residents (2 min 11 sec, p = 0.003). There was also a trend of more mucosa inspected (p = 0.088) and higher efficiency of screening (p = 0.069) by the experts. The residents made fewer errors in the card rotation test than the expert endoscopists (2.5 +/- 0.8 vs 5.5 +/- 1.2, respectively; p = 0.034), and their visuospatial card rotation test results correlated better with their performance in the simulated gastroscopy. CONCLUSIONS: A virtual gastroscopy task presents more of an emotional as well as a psychomotoric challenge to intermediately experienced endoscopists than to senior experts. Our study demonstrates that these differences can be objectively assessed by the use of visuospatial ability tests, flowsheets, and an endoscopic simulator.

Adult↗
PubMed2004

Robotic surgery and cancer: the present state, problems and future vision.

In the 1990s, laparoscopic surgery entirely changed the traditional style of surgical operations. Laparoscopic cholecystectomy has spread rapidly and is now established as the standard treatment. However, besides cholecystectomy, endoscopic procedures are still not applied so widely to a variety of surgical operations. This is because laparoscopic techniques, such as suturing or ligation, make it difficult for surgeons to perform other kinds of operations and thus greatly increase their mental and physical stress. It is necessary to introduce various advanced technologies such as: surgical robots, three dimensional (3D) images, computer graphics (CG), computer simulation technology and others. Surgical robots, including the AESOP, da Vinci and ZEUS systems, provide surgeons with technologically advanced vision and hand skills. As a result, such systems are expected to revolutionize the field of surgery. However, there have so far been few studies which discuss the indications of robotic surgery for tumors/cancer. Therefore, herein we review various studies published in English to focus on the application of robotic surgery to tumors/cancer. We point out that there are several problems to be solved for robot surgery: i) price of surgical robots, ii) training systems for surgeon, iii) coverage by medical insurance, iv) downsizing and v) navigation system. In conclusion, we believe that, in the near future as robotic technology continues to develop, almost all kinds of endoscopic surgery will be performed by this technology. It will replace traditional surgery not only in the treatment of benign diseases but also in malignant illnesses.

Cardiovascular Diseases↗
PubMed2000

Damping actions of the neuromuscular system with inertial loads: soleus muscle of the decerebrate cat.

A transient perturbation applied to a limb held in a given posture can induce oscillations. To restore the initial posture, the neuromuscular system must provide damping, which is the dissipation of the mechanical energy imparted by such a perturbation. Despite their importance, damping properties of the neuromuscular system have been poorly characterized. Accordingly, this paper describes the damping characteristics of the neuromuscular system interacting with inertial loads. To quantitatively examine damping, we coupled simulated inertial loads to surgically isolated, reflexively active soleus muscles in decerebrate cats. A simulated force impulse was applied to the load, causing a muscle stretch, which elicited a reflex response. The resulting deviation from the initial position gave rise to oscillations, which decayed progressively. Damping provided by the neuromuscular system was then calculated from the load kinetics. To help interpret our experimental results, we compared our kinetic measurements with those of an analogous linear viscoelastic system and found that the experimental damping properties differed in two respects. First, the amount of damping was greater for large oscillation amplitudes than for small (damping is independent of amplitude in a linear system). Second, plots of force against length during the induced movements showed that damping was greater for shortening than lengthening movements, reflecting greater effective viscosity during shortening. This again is different from the behavior of a linear system, in which damping effects would be symmetrical. This asymmetric and nonlinear damping behavior appears to be related to both the intrinsic nonlinear mechanical properties of the soleus muscle and to stretch reflex properties. The muscle nonlinearities include a change in muscle force-generating capacity induced by forced lengthening, akin to muscle yield, and the nonlinear force-velocity property of muscle, which is different for lengthening versus shortening. Stretch reflex responses are also known to be asymmetric and amplitude dependent. The finding that damping is greater for larger amplitude motion represents a form of automatic gain adjustment to a larger perturbation. In contrast, because of reduced damping at small amplitudes, smaller oscillations would tend to persist, perhaps contributing to normal or "physiological" tremor. This lack of damping for small amplitudes may represent an acceptable compromise for postural regulation in that there is substantial damping for larger movements, where energy dissipation is more critical. Finally, the directional asymmetry in energy dissipation provided by muscle and reflex properties must be reflected in the neural mechanisms for a stable posture.

Animals↗
PubMed1989

Planning orthognathic surgery with three-dimensional models.

Computerized imaging to provide the perspective of the third dimension is helpful for preoperative evaluation and has been introduced for a variety of indications. Calculated from original computerized tomographic scans, deformities in skeletal and soft tissue profiles can be visualized on a television monitor. A method of fabricating three-dimensional skeletal models that can be used for planning orthognathic surgery has been developed. Mandibular and maxillary surgical movements can be simulated exactly, and osteosynthesis materials can be chosen, adapted, and prepared to save time intraoperatively.

Computer Simulation↗
PubMed2003

Virtual reality laparoscopic simulator for assessment in gynaecology.

A validated virtual reality laparoscopic simulator minimally invasive surgical trainer (MIST) 2 was used to assess the psychomotor skills of 21 gynaecologists (2 consultants, 8 registrars and 11 senior house officers). Nine gynaecologists failed to complete the VR tasks at the first attempt and were excluded for sequential evaluation. Each of the remaining 12 gynaecologists were tested on MIST 2 on four occasions within four weeks. The MIST 2 simulator provided quantitative data on time to complete tasks, errors, economy of movement and economy of diathermy use--for both right and left hand performance. The results show a significant early learning curve for the majority of tasks which plateaued by the third session. This suggests a high quality surgeon-computer interface. MIST 2 provides objective assessment of laparoscopic skills in gynaecologists.

Clinical Competence↗
PubMed2001

[Serious surgical complications associated with chronic anticoagulant therapy].

Chronic anticoagulant treatment is administered mostly for cardiological reasons. Cumarin derivatires are used in the majority of cases (Warfarin, Pelentan). It is necessary to monitor this treatment regularly and to control the dose according to the INR value. Different complications can occur; the haemorrhage represents a serious one. The authors discuss several aspects of anticoagulant therapy and possible prevention of the complications. The importance of the problems is demonstrated on the authors' clinical experience--two cases of haemorrhage after Warfarin administration simulating an acute surgical event.

Abdomen, Acute↗
PubMed2000

Computers and virtual reality for surgical education in the 21st century.

Surgeons must learn to perform operations. The current system of surgical resident education is facing many challenges in terms of time efficiency, costs, and patient safety. In addition, as new types of operations are developed rapidly, practicing surgeons may find a need for more efficient methods of surgical skill education. An in-depth examination of the current learning environment and the literature of motor skills learning provides insights into ways in which surgical skills education can be improved. Computers will certainly be a part of this process. Computer-based training in technical skills has the potential to solve many of the educational, economic, ethical, and patient safety issues related to learning to perform operations. Although full virtual-reality systems are still in development, there has been early progress that should encourage surgeons to incorporate computer simulation into the surgical curriculum.

Clinical Competence↗
PubMed2007

The effect of escalating feedback on the acquisition of psychomotor skills for laparoscopy.

BACKGROUND: In the acquisition of new skills that are difficult to master, such as those required for laparoscopy, feedback is a crucial component of the learning experience. Optimally, feedback should accurately reflect the task performance to be improved and be proximal to the training experience. In surgery, however, feedback typically is in vivo. The development of virtual reality training systems currently offers new training options. This study investigated the effect of feedback type and quality on laparoscopic skills acquisition. METHODS: For this study, 32 laparoscopic novices were prospectively randomized into four training conditions, with 8 in each group. Group 1 (control) had no feedback. Group 2 (buzzer) had audio feedback when the edges were touched. Group 3 (voiced error) had an examiner voicing the word "error" each time the walls were touched. Group 4 (both) received both the audio buzzer and "error" voiced by the examiner All the subjects performed a maze-tracking task with a laparoscopic stylus inserted through a 5-mm port to simulate the fulcrum effect in minimally invasive surgery (MIS). A computer connected to the stylus scored an error each time the edge of the maze was touched, and the subjects were made aware of the error in the aforementioned manner. Ten 2-min trials were performed by the subjects while viewing a monitor. At the conclusion of training, all the subjects completed a 2-min trial of a simple laparoscopic cutting task, with the number of correct and incorrect incisions recorded. RESULTS: Group 4 (both) made significantly more correct incisions than the other three groups (F = 12.13; df = 3, 28; p < 0.001), and also made significantly fewer errors or incorrect incisions (F = 14.4; p < 0.0001). Group 4 also made three times more correct incisions and 7.4 times fewer incorrect incisions than group 1 (control). CONCLUSIONS: The type and quality of feedback during psychomotor skill acquisition for MIS have a large effect on the strength of skills generalization to a simple MIS task and should be given serious consideration in curriculum design for surgical training using simulation tasks.

Adult↗
PubMed2001

Haptic reproduction and interactive visualization of a beating heart based on cardiac morphology.

A goal of this work is proposal and construction of simulation methods of haptic reproduction and interactive visualization of a beating heart in cardiovascular surgical training and education. The data for the beating heart model was obtained from ECG-gated 3D MRI of a normal volunteer. The elastic information was assumed as a uniform value with clinically experienced elasticity. Using a real-time 3D graphics and a haptic device, a simulation environment of the beating heart was designed and implemented. After the construction, some cardiovascular surgeons evaluated the implemented system. Its visualization and haptic expression were scored excellent, but some details in haptic interface were remained to be improved. Finally, for more realistic cardiovascular surgical simulation, future development of the method is discussed.

Anatomy, Cross-Sectional↗
PubMed2004

Accuracy of the axillary projection to determine fracture angulation of the proximal humerus.

The accuracy of measuring angulation of stable proximal humerus fractures using the axillary lateral projection was investigated. A closing wedge osteotomy with apex anterior angulation was performed on two cadaveric humeri to simulate a stable surgical neck fracture. One specimen was fixed at 30 degrees angulation and the other at 55 degrees. Axillary radiographs were taken with each specimen articulating with the glenoid of a cadaveric scapula. The humerus was held in neutral rotation. Abduction was set at 30 degrees, 60 degrees, and 90 degrees. In each position of abduction, an axillary lateral radiograph was taken in 30 degrees forward flexion, neutral, and 30 degrees extension to simulate various arm positions. A total of nine radiographs were taken for each specimen. The axillary view is not accurate for measurement of proximal humerus angulation at the arm positions commonly encountered in the trauma setting.

Axilla↗
PubMed2006

Microgravity effects on fine motor skills: tying surgical knots during parabolic flight.

INTRODUCTION: The health provider on a space exploration mission cannot evacuate a patient to Earth. Contingency plans for medical intervention must be designed for autonomy. This study measured the effect of microgravity on performance of fine motor skills such as basic surgical tasks. METHODS: Eight subjects, six with medical and two with non-medical backgrounds, were evaluated during parabolic microgravity flights aboard NASA's KC-135. We evaluated their skill in tying surgical knots on simulated skin made of silicone using standard techniques for minimally invasive surgery. LabView software was developed to archive forces applied to the laparoscopic tool handles during knot-tying. Studies were controlled for medication (ScopeDex) and the aircraft environment. RESULTS: All participants completed the tests successfully. The data indicated that increased force was applied to the instruments and knot quality decreased during flight compared with ground control sessions. CONCLUSION: Specific metrics of surgical task performance are essential in developing education modules for providers of medical care during exploration-class missions.

Adult↗
PubMed2004

Occupational gonadal and embryo/fetal doses from fluoroscopically assisted surgical treatments of spinal disorders.

STUDY DESIGN: Simulation of lumbar spine fluoroscopy used during surgical treatments of spinal disorders on a humanoid phantom and monitoring of the scattered radiation levels. OBJECTIVES: To assess the potential of adverse effects to progeny due to the preconceptual and embryo/fetal exposure to ionizing radiation resulting from the parental occupational exposure to scattered radiation from lumbar fluoroscopy. SUMMARY OF BACKGROUND DATA: There are no available data on embryo/fetal doses resulting from maternal occupational exposure in the orthopedic theater. Besides, studies on staff gonadal doses from fluoroscopically assisted spine surgery are scarce and their results are not generally applicable. METHODS: Lumbar spine anterior-posterior and lateral fluoroscopy were performed on an anthropomorphic phantom. Scattered radiation within the orthopedic theater was recorded at the staff genitals and waist level. Gonadal, abdominal surface, and embryo/fetal doses normalized to the dose-area-product specific to each projection were calculated. RESULTS: If the annual dose limits of occupational exposure are continuously exhausted for 10 years, the resulting radiogenic risk of congenital malformation in infants born to the orthopedic theater staff will be at least two orders of magnitude lower than the corresponding spontaneous probability. The occupational exposure of the pregnant mother bears a negligible contribution to the risk of hereditary effect on the newborn's progeny compared with the natural incidence rate. CONCLUSIONS: Radiogenic genetic and embryo/fetal risks resulting from occupational exposure due to fluoroscopically assisted surgical treatments of spinal disorders are well within tolerance levels provided that rigorous confinement to all pertinent occupational dose constraints is established.

Dose-Response Relationship, Radiation↗
PubMed1986

[X-ray computed tomographic aspects of benign primary cerebral melanomas. Apropos of 4 cases].

Benign primitive melanomas are rare tumours usually involving the leptomeninges. Four cranial localizations are reported: 2 tumours of the foramen magnum, 1 of the cerebellopontine angle and 1 supratentorial. The clinical symptomatology is variable according to the level. Slow medullary compression is frequent. One can emphasize the special and difficult problem of foramen magnum tumours that present with a very variable clinical status frequently simulating a non surgical disease of the central nervous system. The benign and primitive appearance of these tumours is evocated by the slow and favourable evolution and by the absence of extraneurologic melanotic tumour. Our purpose is essentially to emphasize the radiological and particularly the computed tomographic (CT) findings poorly described in the literature. Benign melanomas have resemblance with meningiomas: osseous or meningeal relationship, homogeneity and high density. On the other hand the angiography shows poor vascularization. One can think that a tumor simulating a meningioma by CT but not by angiography is perhaps a benign melanoma. The special problem of the radiological diagnosis of foramen magnum tumours is evocated: Computed myelography, tridimensional imaging by NMR.

Brain Neoplasms↗
PubMed2003

Principles and advantages of robotics in urologic surgery.

Although the available minimally invasive surgical techniques (ie, laparoscopy) have clear advantages, these procedures continue to cause problems for patients. Surgical tools are limited by set axes of movement, restricting the degree of freedom available to the surgeon. In addition, depth perception is lost with the use of two-dimensional viewing systems. As surgeons view a "virtual" target on a television screen, they are hampered by decreased sensory input and a concurrent loss of dexterity. The development of robotic assistance systems in recent years could be the key to overcoming these difficulties. Using robotic systems, surgeons can experience a more natural and ergonomic surgical "feel." Surgical assistance, dexterity and precision enhancement, systems networking, and image-guided therapy are among the benefits offered by surgical robots. In return, the surgeon gains a shorter learning curve, reduced fatigue, and the opportunity to perform complex procedures that would be difficult using conventional laparoscopy. With the development of image-guided technology, robotic systems will become useful tools for surgical training and simulation. Remote surgery is not a routine procedure, but several teams are working on this and experiencing good results. However, economic concerns are the major drawbacks of these systems; before remote surgery becomes routinely feasible, the clinical benefits must be balanced with high investment and running costs.

Humans↗
PubMed1998

Interactive image guided surgery of the pineal region.

A wide variety of lesions occur in the pineal region. Of these, only 25% may benefit from surgical resection, being benign or radioresistant in nature. In the remaining 75% (malignant or radiosensitive), a conservative approach is preferred. Surgical resection of lesions arising from the pineal region has been associated with high morbidity and mortality, due to the complex microanatomy of this area. Recently computer-assisted surgery has emerged as an ideal method to safely approach many intracranial lesions. In the present study we discuss our experience in interactive image-guided surgical management of pineal mass lesions, in terms of patient selection, methodology, and surgical morbidity and mortality. From July 1992 to December 1996, 15 patients underwent interactive image guided surgical procedures. There were eight men and seven women. Age ranged from 5 to 79 years (mean 30). Preoperatively all patients underwent neuroimaging studies that included computed tomography and magnetic resonance imaging under stereotactic conditions. Surgical planning was carried out using the Neurological Surgical Planning System software developed at Wayne State University. In patients with a preoperative diagnosis of a malignant or radiosensitive lesion (n = 10), an interactive image-guided stereotactic biopsy was considered, whereas for those with benign or radioresistant lesions (n = 5) surgical excision using an infrared based system was carried out. Histological diagnosis was obtained in all patients. There was no morbidity and mortality associated with computer-assisted procedures for biopsies the diagnostic yield was 100%. For patients that underwent interactive image-guided surgery, gross total removal was accomplished in 3 and in 1 patient a subtotal resection greater than 90% was achieved. Interactive image-guided biopsy represents a safe and accurate method in the diagnosis of malignant and/or radiosensitive pineal lesions. Using this technique surgeons can simulate preoperatively the surgical trajectory, thus avoiding damage to critical and vascular structures. For patients with benign or radioresistant lesions, computer-assisted surgical excision is recommended.

Adolescent↗
PubMed2003

The da Vinci telerobotic surgical system: the virtual operative field and telepresence surgery.

The United States Department of Defense developed the telepresence surgery concept to meet battlefield demands. The da Vinci telerobotic surgery system evolved from these efforts. In this article, the authors describe the components of the da Vinci system and explain how the surgeon sits at a computer console, views a three-dimensional virtual operative field, and performs the operation by controlling robotic arms that hold the stereoscopic video telescope and surgical instruments that simulate hand motions with seven degrees of freedom. The three-dimensional imaging and handlike motions of the system facilitate advanced minimally invasive thoracic, cardiac, and abdominal procedures. da Vinci has recently released a second generation of telerobots with four arms and will continue to meet the evolving challenges of surgery.

Equipment Design↗